Preheat your oven to 350°F (175°C) and line a cupcake pan with paper liners or grease the cups.

In a large mixing bowl, cream together the softened butter and sugar until light and fluffy. Add in the eggs, milk, and vanilla extract, mixing until well combined.

In a separate bowl, whisk together the flour, baking powder, cinnamon, and salt. Gradually add the dry ingredients to the wet mixture, stirring just until combined.

Divide the batter evenly among the prepared cupcake liners, filling each about two-thirds full.

Bake in the preheated oven for 18-20 minutes or until a toothpick inserted into the center comes out clean.

While the cupcakes cool, mix the granulated sugar and cinnamon in a small bowl.

Once the cupcakes are completely cool, brush the tops with melted butter and roll them in the cinnamon-sugar mixture.

Serve your Churro Cupcakes with a drizzle of chocolate sauce or a dollop of whipped cream.